1027 add minimal bottlecapsorter using ip20 module and one beckoff stepper #1028

TheBest6337 · 2026-01-02T17:56:42Z

No description provided.

…components

…tting

Copilot

Pull request overview

This PR adds a new machine type called "Minimal Bottle Sorter" to the control software. The machine uses a Wago IP20-EC-DI8-DO8 module for digital I/O and a Beckhoff EL7041-0052 stepper motor terminal. The implementation follows the existing pattern used for test machines in the codebase, providing both backend machine control logic in Rust and a frontend React-based UI for operator control.

Key changes:

Backend Rust implementation with EtherCAT device configuration, stepper motor control, and digital output pulse functionality
Frontend TypeScript/React UI with stepper motor controls and digital output pulse buttons
Machine registration and routing integration

Reviewed changes

Copilot reviewed 12 out of 12 changed files in this pull request and generated 9 comments.

Show a summary per file

File	Description
machines/src/registry.rs	Registers the new MinimalBottleSorter machine type in the machine registry
machines/src/lib.rs	Adds module declaration and machine identification constant (0x0036)
machines/src/minimal_bottle_sorter/mod.rs	Core machine struct and implementation with stepper control and digital output pulse logic
machines/src/minimal_bottle_sorter/new.rs	Device initialization and configuration for EK1100 coupler, EL7041-0052 stepper, and IP20 DI8/DO8 module
machines/src/minimal_bottle_sorter/api.rs	Socket.io event definitions and API mutation handlers for frontend communication
machines/src/minimal_bottle_sorter/act.rs	Main control loop implementation with periodic state emission and pulse timing
electron/src/routes/routes.tsx	Adds routing for the bottle sorter pages
electron/src/machines/properties.ts	Defines machine properties including device roles and hardware identifications
electron/src/machines/minimalbottlesorter/useMinimalBottleSorter.ts	React hook providing state management and mutation functions
electron/src/machines/minimalbottlesorter/minimalBottleSorterNamespace.ts	Socket.io namespace configuration and event schema definitions
electron/src/machines/minimalbottlesorter/MinimalBottleSorterPage.tsx	Main page component with navigation topbar
electron/src/machines/minimalbottlesorter/MinimalBottleSorterControlPage.tsx	Control interface with stepper motor controls and output pulse buttons

Copilot · 2026-01-02T18:02:49Z

machines/src/minimal_bottle_sorter/mod.rs

+            } else {
+                -speed_steps_s
+            };
+            let _ = self.stepper.set_speed(signed_speed);


The error result from set_speed is silently ignored. If setting the speed fails, the system will be in an inconsistent state where the internal speed variable doesn't match the actual hardware speed. Consider logging the error or propagating it to the caller.

Suggested change

let _ = self.stepper.set_speed(signed_speed);

if let Err(err) = self.stepper.set_speed(signed_speed) {

eprintln!(

"Failed to set stepper speed to {signed_speed}: {err}"

);

}

Copilot · 2026-01-02T18:02:50Z

machines/src/minimal_bottle_sorter/mod.rs

+
+    /// Set stepper speed in mm/s
+    pub fn set_stepper_speed(&mut self, speed_mm_s: f64) {
+        self.stepper_speed = speed_mm_s.abs().max(0.0).min(100.0); // Limit to 0-100 mm/s


The speed_mm_s.abs() call makes the subsequent .max(0.0) redundant since the absolute value is already non-negative. Consider removing either abs() or max(0.0).

Suggested change

self.stepper_speed = speed_mm_s.abs().max(0.0).min(100.0); // Limit to 0-100 mm/s

self.stepper_speed = speed_mm_s.abs().min(100.0); // Limit to 0-100 mm/s

Copilot · 2026-01-02T18:02:50Z

machines/src/minimal_bottle_sorter/act.rs

+            MachineMessage::UnsubscribeNamespace => self.namespace.namespace = None,
+            MachineMessage::HttpApiJsonRequest(value) => {
+                use crate::MachineApi;
+                let _res = self.api_mutate(value);


The result of api_mutate is silently ignored. If the mutation fails (e.g., due to invalid parameters), no feedback is provided and the error is not logged. Consider logging the error or handling it appropriately to aid in debugging and troubleshooting.

Suggested change

let _res = self.api_mutate(value);

if let Err(err) = self.api_mutate(value) {

eprintln!(

"MinimalBottleSorter: api_mutate failed for HttpApiJsonRequest: {:?}",

err

);

}

Copilot · 2026-01-02T18:02:50Z

electron/src/machines/minimalbottlesorter/minimalBottleSorterNamespace.ts

+
+export const liveValuesEventDataSchema = z.object({
+  stepper_actual_speed: z.number(),
+  stepper_position: z.number(),


The backend uses i128 for stepper_position, but the frontend schema uses z.number() which represents a JavaScript number (max safe integer is 2^53-1). This type mismatch may cause precision loss or overflow issues if the stepper position exceeds JavaScript's safe integer range. Consider using z.bigint() or documenting the expected range of the stepper position.

Suggested change

stepper_position: z.number(),

stepper_position: z.bigint(),

Copilot · 2026-01-02T18:02:51Z

machines/src/minimal_bottle_sorter/act.rs

+        static mut LAST_PULSE_UPDATE: Option<Instant> = None;
+        unsafe {
+            let should_update = match LAST_PULSE_UPDATE {
+                Some(last) => now.duration_since(last) > Duration::from_millis(10),
+                None => true,
+            };
+
+            if should_update {
+                let delta_ms = match LAST_PULSE_UPDATE {
+                    Some(last) => now.duration_since(last).as_millis() as u32,
+                    None => 10,
+                };
+                self.update_pulses(delta_ms);
+                LAST_PULSE_UPDATE = Some(now);
+            }
+        }


Using mutable static variables without synchronization is unsafe and can lead to data races in multi-threaded contexts. This implementation violates Rust's safety guarantees. Consider using a thread-local variable or storing LAST_PULSE_UPDATE as an instance field in the MinimalBottleSorter struct instead.

Copilot · 2026-01-02T18:02:51Z

machines/src/minimal_bottle_sorter/new.rs

+
+use crate::{
+    MachineNewHardware, MachineNewParams, MachineNewTrait, get_ethercat_device,
+    validate_no_role_dublicates, validate_same_machine_identification_unique,


The spelling "dublicates" is incorrect. It should be "duplicates".

Copilot · 2026-01-02T18:02:51Z

machines/src/minimal_bottle_sorter/new.rs

+            .map(|device_identification| device_identification.clone())
+            .collect::<Vec<_>>();
+        validate_same_machine_identification_unique(&device_identification)?;
+        validate_no_role_dublicates(&device_identification)?;


The spelling "dublicates" is incorrect. It should be "duplicates".

Copilot · 2026-01-02T18:02:52Z

machines/src/minimal_bottle_sorter/mod.rs

+        if self.stepper_enabled {
+            // Convert mm/s to steps/s (assuming 200 steps per revolution and some mechanical conversion)
+            // This is a placeholder - adjust based on your actual mechanical setup
+            let steps_per_mm = 100.0; // Adjust this value based on your setup


The hardcoded value of 100.0 steps per mm should be documented or made configurable. This magic number represents a critical mechanical configuration that will need adjustment for actual hardware. Consider adding a comment explaining this is a placeholder value or making it a constant with a descriptive name.

Copilot · 2026-01-02T18:02:52Z

electron/src/machines/minimalbottlesorter/useMinimalBottleSorter.ts

+import {
+  useMinimalBottleSorterNamespace,
+  StateEvent,
+  LiveValuesEvent,


Unused import LiveValuesEvent.

Suggested change

LiveValuesEvent,

Copilot AI review requested due to automatic review settings January 2, 2026 17:56

TheBest6337 linked an issue Jan 2, 2026 that may be closed by this pull request

Add bottlecapsorter using IP20 module and one wago stepper #1027

Open

TheBest6337 added 3 commits January 2, 2026 18:56

Add Minimal Bottle Sorter machine implementation with control and UI …

101671d

…components

Add EK1100 Bus Coupler and adjust roles in Minimal Bottle Sorter

1398c72

Refactor minimal bottle sorter module imports and clean up code forma…

6be7f9a

…tting

TheBest6337 force-pushed the 1027-add-bottlecapsorter-using-ip20-module-and-one-wago-stepper branch from e7e8f73 to 6be7f9a Compare January 2, 2026 17:56

Format code for better readability in useMinimalBottleSorter function

1605553

TheBest6337 marked this pull request as draft January 2, 2026 17:57

Copilot started reviewing on behalf of TheBest6337 January 2, 2026 17:59 View session

Copilot AI reviewed Jan 2, 2026

View reviewed changes

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

1027 add minimal bottlecapsorter using ip20 module and one beckoff stepper #1028

1027 add minimal bottlecapsorter using ip20 module and one beckoff stepper #1028

Uh oh!

TheBest6337 commented Jan 2, 2026

Uh oh!

Copilot AI left a comment

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Copilot AI Jan 2, 2026

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants

-            let _ = self.stepper.set_speed(signed_speed);
+            if let Err(err) = self.stepper.set_speed(signed_speed) {
+                eprintln!(
+                    "Failed to set stepper speed to {signed_speed}: {err}"
+                );
+            }

	self.stepper_speed = speed_mm_s.abs().max(0.0).min(100.0); // Limit to 0-100 mm/s
	self.stepper_speed = speed_mm_s.abs().min(100.0); // Limit to 0-100 mm/s

1027 add minimal bottlecapsorter using ip20 module and one beckoff stepper #1028

Are you sure you want to change the base?

1027 add minimal bottlecapsorter using ip20 module and one beckoff stepper #1028

Uh oh!

Conversation

TheBest6337 commented Jan 2, 2026

Uh oh!

Copilot AI left a comment

Choose a reason for hiding this comment

Pull request overview

Reviewed changes

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Copilot AI Jan 2, 2026

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

2 participants